Package com.irurueta.navigation.inertial.calibration

Class IMUErrors

java.lang.Object
com.irurueta.navigation.inertial.calibration.IMUErrors
All Implemented Interfaces:
Serializable, Cloneable
public class IMUErrors extends Object implements Serializable, Cloneable
Contains Inertial Measurement Unit (IMU) errors statistics obtained from calibration. This data can also be used to generate synthetic IMU data. IMU errors are related to accelerometer and gyroscope calibration parameters.
See Also:

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final int
    ACCELEROMETER_COMPONENTS
    Number of components of accelerometer measures.
    private double[]
    accelerometerBiases
    Accelerometer biases for each IMU axis expressed in meters per squared second (m/s^2).
    private double
    accelerometerNoiseRootPSD
    Accelerometer noise root PSD expressed in (m * s^-1.5).
    private double
    accelerometerQuantizationLevel
    Accelerometer quantization level expressed in meters per squared second (m/s^2).
    private com.irurueta.algebra.Matrix
    accelerometerScaleFactorAndCrossCouplingErrors
    Contains accelerometer scale factors and cross coupling errors.
    private static final int
    COMPONENTS_MINUS_ONE
    Number of components minus one.
    static final int
    GYRO_COMPONENTS
    Number of components og gyro measures.
    private double[]
    gyroBiases
    Gyro biases for each IMU axis expressed in radians per second (rad/s).
    private com.irurueta.algebra.Matrix
    gyroGDependentBiases
    3x3 matrix containing cross biases introduced by the specific forces sensed by the accelerometer.
    private double
    gyroNoiseRootPSD
    Gyro noise root PSD expressed in (rad * s^-0.5).
    private double
    gyroQuantizationLevel
    Gyro quantization level expressed in radians per second (rad/s).
    private com.irurueta.algebra.Matrix
    gyroScaleFactorAndCrossCouplingErrors
    Contains gyro scale factors and cross coupling errors.
    private static final long
    serialVersionUID
    Serialization version.

  • Constructor Summary

    Constructors
    Constructor
    Description
    IMUErrors()
    Constructor.
    IMUErrors(double[] accelerometerBiases, double[] gyroBiases, com.irurueta.algebra.Matrix accelerometerScaleFactorAndCrossCouplingErrors, com.irurueta.algebra.Matrix gyroScaleFactorAndCrossCouplingErrors, double accelerometerNoiseRootPSD, double gyroNoiseRootPSD)
    Constructor.
    IMUErrors(double[] accelerometerBiases, double[] gyroBiases, com.irurueta.algebra.Matrix accelerometerScaleFactorAndCrossCouplingErrors, com.irurueta.algebra.Matrix gyroScaleFactorAndCrossCouplingErrors, com.irurueta.algebra.Matrix gyroGDependentBiases, double accelerometerNoiseRootPSD, double gyroNoiseRootPSD, double accelerometerQuantizationLevel, double gyroQuantizationLevel)
    Constructor.
    IMUErrors(com.irurueta.algebra.Matrix accelerometerBiases, com.irurueta.algebra.Matrix gyroBiases, com.irurueta.algebra.Matrix accelerometerScaleFactorAndCrossCouplingErrors, com.irurueta.algebra.Matrix gyroScaleFactorAndCrossCouplingErrors, double accelerometerNoiseRootPSD, double gyroNoiseRootPSD)
    Constructor.
    IMUErrors(com.irurueta.algebra.Matrix accelerometerBiases, com.irurueta.algebra.Matrix gyroBiases, com.irurueta.algebra.Matrix accelerometerScaleFactorAndCrossCouplingErrors, com.irurueta.algebra.Matrix gyroScaleFactorAndCrossCouplingErrors, com.irurueta.algebra.Matrix gyroGDependentBiases, double accelerometerNoiseRootPSD, double gyroNoiseRootPSD, double accelerometerQuantizationLevel, double gyroQuantizationLevel)
    Constructor.
    IMUErrors(IMUErrors input)
    Constructor.
    IMUErrors(com.irurueta.units.Acceleration[] accelerometerBiases, com.irurueta.units.AngularSpeed[] gyroBiases, com.irurueta.algebra.Matrix accelerometerScaleFactorAndCrossCouplingErrors, com.irurueta.algebra.Matrix gyroScaleFactorAndCrossCouplingErrors, double accelerometerNoiseRootPSD, double gyroNoiseRootPSD)
    Constructor.
    IMUErrors(com.irurueta.units.Acceleration[] accelerometerBiases, com.irurueta.units.AngularSpeed[] gyroBiases, com.irurueta.algebra.Matrix accelerometerScaleFactorAndCrossCouplingErrors, com.irurueta.algebra.Matrix gyroScaleFactorAndCrossCouplingErrors, com.irurueta.algebra.Matrix gyroGDependentBiases, double accelerometerNoiseRootPSD, double gyroNoiseRootPSD, com.irurueta.units.Acceleration accelerometerQuantizationLevel, com.irurueta.units.AngularSpeed gyroQuantizationLevel)
    Constructor.

  • Method Summary

    Modifier and Type
    Method
    Description
    protected Object
    clone()
    Makes a copy of this instance.
    private double
    convertAcceleration(com.irurueta.units.Acceleration acceleration)
    Converts acceleration instance to meters per squared second (m/s^2).
    private double
    convertAngularSpeed(com.irurueta.units.AngularSpeed angularSpeed)
    Converts angular speed instance to radians per second (rad/s).
    void
    copyFrom(IMUErrors input)
    Copies data of provided instance into this instance.
    void
    copyTo(IMUErrors output)
    Copies this instance data into provided instance.
    boolean
    equals(Object o)
    Checks if provided object is an IMUErrors instance having exactly the same contents as this instance.
    double[]
    getAccelerometerBiases()
    Gets accelerometer biases for each IMU axis expressed in meters per squared second (m/s^2).
    void
    getAccelerometerBiases(double[] result)
    Gets accelerometer biases for each IMU axis expressed in meters per squared second (m/s^2).
    com.irurueta.units.Acceleration[]
    getAccelerometerBiasesAsAcceleration()
    Gets accelerometer biases for each IMU axis.
    void
    getAccelerometerBiasesAsAcceleration(com.irurueta.units.Acceleration[] result)
    Gets accelerometer biases for each IMU axis.
    com.irurueta.algebra.Matrix
    getAccelerometerBiasesAsMatrix()
    Gets accelerometer biases for each IMU axis expressed in meters per squared second (m/s^2) as a column matrix.
    void
    getAccelerometerBiasesAsMatrix(com.irurueta.algebra.Matrix result)
    Gets accelerometer biases for each IMU axis expressed in meters per squared second (m/s^2) as a column matrix.
    double
    getAccelerometerNoisePSD()
    Gets accelerometer noise PSD expressed in (m^2 * s^-3).
    double
    getAccelerometerNoiseRootPSD()
    Gets accelerometer noise root PSD expressed in (m * s^-1.5).
    double
    getAccelerometerQuantizationLevel()
    Gets accelerometer quantization level expressed in meters per squared second (m/s^2).
    com.irurueta.units.Acceleration
    getAccelerometerQuantizationLevelAsAcceleration()
    Gets accelerometer quantization level.
    void
    getAccelerometerQuantizationLevelAsAcceleration(com.irurueta.units.Acceleration result)
    Gets accelerometer quantization level.
    com.irurueta.algebra.Matrix
    getAccelerometerScaleFactorAndCrossCouplingErrors()
    Gets accelerometer scale factors and cross coupling errors.
    void
    getAccelerometerScaleFactorAndCrossCouplingErrors(com.irurueta.algebra.Matrix result)
    Gets accelerometer scale factors and cross coupling errors.
    double[]
    getGyroBiases()
    Gets gyro biases for each IMU axis expressed in radians per second (rad/s).
    void
    getGyroBiases(double[] result)
    Gets gyro biases for each IMU axis expressed in radians per second (rad/s).
    com.irurueta.units.AngularSpeed[]
    getGyroBiasesAsAngularSpeed()
    Gets gyro biases for each IMU axis.
    void
    getGyroBiasesAsAngularSpeed(com.irurueta.units.AngularSpeed[] result)
    Gets gyro biases for each IMU axis.
    com.irurueta.algebra.Matrix
    getGyroBiasesAsMatrix()
    Gets gyro biases for each IMU axis expressed in radians per second (rad/s) as a column matrix.
    void
    getGyroBiasesAsMatrix(com.irurueta.algebra.Matrix result)
    Gets gyro biases for each IMU axis expressed in radians per second (rad/s) as a column matrix.
    com.irurueta.algebra.Matrix
    getGyroGDependentBiases()
    Gets 3x3 matrix containing cross biases introduced by the specific forces sensed by the accelerometer.
    void
    getGyroGDependentBiases(com.irurueta.algebra.Matrix result)
    Gets 3x3 matrix containing cross biases introduced by the specific forces sensed by the accelerometer.
    double
    getGyroNoisePSD()
    Gets gyro noise PSD expressed in (rad^2/s).
    double
    getGyroNoiseRootPSD()
    Gets gyro noise root PSD expressed in (rad * s^-0.5).
    double
    getGyroQuantizationLevel()
    Gets gyro quantization level expressed in radians per second (rad/s).
    com.irurueta.units.AngularSpeed
    getGyroQuantizationLevelAsAngularSpeed()
    Gets gyro quantization level.
    void
    getGyroQuantizationLevelAsAngularSpeed(com.irurueta.units.AngularSpeed result)
    Gets gyro quantization level.
    com.irurueta.algebra.Matrix
    getGyroScaleFactorAndCrossCouplingErrors()
    Gets gyro scale factors and cross coupling errors.
    void
    getGyroScaleFactorAndCrossCouplingErrors(com.irurueta.algebra.Matrix result)
    Gets gyro scale factors and cross coupling errors.
    int
    hashCode()
    Computes and returns hash code for this instance.
    void
    setAccelerometerBiases(double[] accelerometerBiases)
    Sets accelerometer biases for each IMU axis expressed in meters per squared second (m/s^2).
    void
    setAccelerometerBiases(com.irurueta.algebra.Matrix accelerometerBiases)
    Sets accelerometer biases for each IMU axis expressed in meters per squared second (m/s^2) from a 3x1 column matrix.
    void
    setAccelerometerBiases(com.irurueta.units.Acceleration[] accelerometerBiases)
    Sets accelerometer biases for each IMU axis.
    void
    setAccelerometerNoisePSD(double accelerometerNoisePSD)
    Sets accelerometer noise PSD expressed in (m^2 * s^-3).
    void
    setAccelerometerNoiseRootPSD(double accelerometerNoiseRootPSD)
    Sets accelerometer noise root PSD expressed in (m * s^-1.5)
    void
    setAccelerometerQuantizationLevel(double accelerometerQuantizationLevel)
    Sets accelerometer quantization level expressed in meters per squared second (m/s^2).
    void
    setAccelerometerQuantizationLevel(com.irurueta.units.Acceleration accelerometerQuantizationLevel)
    Sets accelerometer quantization level.
    void
    setAccelerometerScaleFactorAndCrossCouplingErrors(com.irurueta.algebra.Matrix accelerometerScaleFactorAndCrossCouplingErrors)
    Sets accelerometer scale factors and cross coupling errors.
    void
    setGyroBiases(double[] gyroBiases)
    Sets gyro biases for each IMU axis expressed in radians per second (rad/s).
    void
    setGyroBiases(com.irurueta.algebra.Matrix gyroBiases)
    Sets gyro biases for each IMU axis expressed in radians per second (rad/s) from a 3x1 column matrix.
    void
    setGyroBiases(com.irurueta.units.AngularSpeed[] gyroBiases)
    Sets gyro biases for each IMU axis.
    void
    setGyroGDependentBiases(com.irurueta.algebra.Matrix gyroGDependentBiases)
    Sets 3x3 matrix containing cross biases introduced by the specific forces sensed by the accelerometer.
    void
    setGyroNoisePSD(double gyroNoisePSD)
    Sets gyro noise PSD expressed in (rad^2/s).
    void
    setGyroNoiseRootPSD(double gyroNoiseRootPSD)
    Sets gyro noise root PSD expressed in (rad * s^-0.5).
    void
    setGyroQuantizationLevel(double gyroQuantizationLevel)
    Sets gyro quantization level expressed in radians per second (rad/s).
    void
    setGyroQuantizationLevel(com.irurueta.units.AngularSpeed gyroQuantizationLevel)
    Sets gyro quantization level.
    void
    setGyroScaleFactorAndCrossCouplingErrors(com.irurueta.algebra.Matrix gyroScaleFactorAndCrossCouplingErrors)
    Sets gyro scale factors and cross coupling errors.

    Methods inherited from class java.lang.Object

    finalize, getClass, notify, notifyAll, toString, wait, wait, wait

  • Field Details

    • ACCELEROMETER_COMPONENTS

      public static final int ACCELEROMETER_COMPONENTS
      Number of components of accelerometer measures.
      See Also:

    • GYRO_COMPONENTS

      public static final int GYRO_COMPONENTS
      Number of components og gyro measures.
      See Also:

    • COMPONENTS_MINUS_ONE

      private static final int COMPONENTS_MINUS_ONE
      Number of components minus one.
      See Also:

    • serialVersionUID

      private static final long serialVersionUID
      Serialization version. This is used to ensure compatibility of deserialization of permanently stored serialized instances.
      See Also:

    • accelerometerBiases

      private double[] accelerometerBiases
      Accelerometer biases for each IMU axis expressed in meters per squared second (m/s^2). By default, it is assumed to be all zeros.

    • gyroBiases

      private double[] gyroBiases
      Gyro biases for each IMU axis expressed in radians per second (rad/s). By default, it is assumed to be all zeros.

    • accelerometerScaleFactorAndCrossCouplingErrors

      private com.irurueta.algebra.Matrix accelerometerScaleFactorAndCrossCouplingErrors
      Contains accelerometer scale factors and cross coupling errors. This is the product of matrix Ta containing cross coupling errors and Ka containing scaling factors. So that: 
           Ma = [sx    mxy  mxz] = Ta*Ka
          [myx   sy   myz]
          [mzx   mzy  sz ]
      Where: 
           Ka = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
      and 
           Ta = [1          -alphaXy    alphaXz ]
          [alphaYx    1           -alphaYz]
          [-alphaZx   alphaZy     1       ]
      Hence: 
           Ma = [sx    mxy  mxz] = Ta*Ka =  [sx             -sy * alphaXy   sz * alphaXz ]
          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
      This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy are considered to be zero if the accelerometer z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Ma matrix becomes upper diagonal: 
           Ma = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
      Values of this matrix are unit-less. By default, it is the 3x3 zero matrix.

    • gyroScaleFactorAndCrossCouplingErrors

      private com.irurueta.algebra.Matrix gyroScaleFactorAndCrossCouplingErrors
      Contains gyro scale factors and cross coupling errors. This is the product of matrix Tg containing cross coupling errors and Kg containing scaling factors. So that: 
           Mg = [sx    mxy  mxz] = Tg*Kg
          [myx   sy   myz]
          [mzx   mzy  sz ]
      Where: 
           Kg = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
      and 
           Tg = [1          -gammaXy    gammaXz ]
          [gammaYx    1           -gammaYz]
          [-gammaZx   gammaZy     1       ]
      Hence: 
           Mg = [sx    mxy  mxz] = Tg*Kg =  [sx             -sy * gammaXy   sz * gammaXz ]
          [myx   sy   myz]            [sx * gammaYx   sy              -sz * gammaYz]
          [mzx   mzy  sz ]            [-sx * gammaZx  sy * gammaZy    sz           ]
      This instance allows any 3x3 matrix however, typically gammaYx, gammaZx and gammaZy are considered to be zero if the accelerometer z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Ma matrix becomes upper diagonal: 
           Ma = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
      Values of this matrix are unit-less. By default, it is the 3x3 zero matrix.

    • gyroGDependentBiases

      private com.irurueta.algebra.Matrix gyroGDependentBiases
      3x3 matrix containing cross biases introduced by the specific forces sensed by the accelerometer. Values of this matrix are expressed in (rad-sec/m). By default, it is all zeros.

    • accelerometerNoiseRootPSD

      private double accelerometerNoiseRootPSD
      Accelerometer noise root PSD expressed in (m * s^-1.5). By default it is zero.

    • gyroNoiseRootPSD

      private double gyroNoiseRootPSD
      Gyro noise root PSD expressed in (rad * s^-0.5). By default, it is zero.

    • accelerometerQuantizationLevel

      private double accelerometerQuantizationLevel
      Accelerometer quantization level expressed in meters per squared second (m/s^2). By default, it is zero when no quantization is assumed.

    • gyroQuantizationLevel

      private double gyroQuantizationLevel
      Gyro quantization level expressed in radians per second (rad/s). By default, it is zero when no quantization is assumed.

  • Constructor Details

    • IMUErrors

      public IMUErrors()
      Constructor.

    • IMUErrors

      public IMUErrors(double[] accelerometerBiases, double[] gyroBiases, com.irurueta.algebra.Matrix accelerometerScaleFactorAndCrossCouplingErrors, com.irurueta.algebra.Matrix gyroScaleFactorAndCrossCouplingErrors, double accelerometerNoiseRootPSD, double gyroNoiseRootPSD)
      Constructor.
      Parameters:
      accelerometerBiases - accelerometer biases for each IMU axis expressed in meters per squared second (m/s^2). Must have length 3.
      gyroBiases - gyro biases for each IMU axis expressed in radians per second (rad/s). Must have length 3.
      accelerometerScaleFactorAndCrossCouplingErrors - accelerometer scale factors and cross coupling errors. Must be 3x3.
      gyroScaleFactorAndCrossCouplingErrors - gyro scale factors and cross coupling errors. Must be 3x3.
      accelerometerNoiseRootPSD - accelerometer noise root PSD expressed in (m * s^-1.5).
      gyroNoiseRootPSD - gyro noise root PSD expressed in (rad * s^-0.5).
      Throws:
      IllegalArgumentException - if any value is invalid.

    • IMUErrors

      public IMUErrors(com.irurueta.algebra.Matrix accelerometerBiases, com.irurueta.algebra.Matrix gyroBiases, com.irurueta.algebra.Matrix accelerometerScaleFactorAndCrossCouplingErrors, com.irurueta.algebra.Matrix gyroScaleFactorAndCrossCouplingErrors, double accelerometerNoiseRootPSD, double gyroNoiseRootPSD)
      Constructor.
      Parameters:
      accelerometerBiases - accelerometer biases for each IMU axis expressed in meters per squared second (m/s^2). Must be 3x1.
      gyroBiases - gyro biases for each IMU axis expressed in radians per second (rad/s). Must be 3x1.
      accelerometerScaleFactorAndCrossCouplingErrors - accelerometer scale factors and cross coupling errors. Must be 3x3.
      gyroScaleFactorAndCrossCouplingErrors - gyro scale factors and cross coupling errors. Must be 3x3.
      accelerometerNoiseRootPSD - accelerometer noise root PSD expressed in (m * s^-1.5).
      gyroNoiseRootPSD - gyro noise root PSD expressed in (rad * s^-0.5).
      Throws:
      IllegalArgumentException - if any value is invalid.

    • IMUErrors

      public IMUErrors(com.irurueta.units.Acceleration[] accelerometerBiases, com.irurueta.units.AngularSpeed[] gyroBiases, com.irurueta.algebra.Matrix accelerometerScaleFactorAndCrossCouplingErrors, com.irurueta.algebra.Matrix gyroScaleFactorAndCrossCouplingErrors, double accelerometerNoiseRootPSD, double gyroNoiseRootPSD)
      Constructor.
      Parameters:
      accelerometerBiases - accelerometer biases for each IMU axis. Must have length 3.
      gyroBiases - gyro biases for each IMU axis. Must have length 3.
      accelerometerScaleFactorAndCrossCouplingErrors - accelerometer scale factors and cross coupling errors. Must be 3x3.
      gyroScaleFactorAndCrossCouplingErrors - gyro scale factors and cross coupling errors. Must be 3x3.
      accelerometerNoiseRootPSD - accelerometer noise root PSD expressed in (m * s^-1.5).
      gyroNoiseRootPSD - gyro noise root PSD expressed in (rad * s^-0.5).
      Throws:
      IllegalArgumentException - if any value is invalid.

    • IMUErrors

      public IMUErrors(double[] accelerometerBiases, double[] gyroBiases, com.irurueta.algebra.Matrix accelerometerScaleFactorAndCrossCouplingErrors, com.irurueta.algebra.Matrix gyroScaleFactorAndCrossCouplingErrors, com.irurueta.algebra.Matrix gyroGDependentBiases, double accelerometerNoiseRootPSD, double gyroNoiseRootPSD, double accelerometerQuantizationLevel, double gyroQuantizationLevel)
      Constructor.
      Parameters:
      accelerometerBiases - accelerometer biases for each IMU axis expressed in meters per squared second (m/s^2). Must have length 3.
      gyroBiases - gyro biases for each IMU axis expressed in radians per second (rad/s). Must have length 3.
      accelerometerScaleFactorAndCrossCouplingErrors - accelerometer scale factors and cross coupling errors. Must be 3x3.
      gyroScaleFactorAndCrossCouplingErrors - gyro scale factors and cross coupling errors. Must be 3x3.
      gyroGDependentBiases - Cross biases introduced by the specific forces sensed by the accelerometer expressed in (rad-sec/m). Must be 3x3.
      accelerometerNoiseRootPSD - accelerometer noise root PSD expressed in (m * s^-1.5).
      gyroNoiseRootPSD - gyro noise root PSD expressed in (rad * s^-0.5).
      accelerometerQuantizationLevel - accelerometer quantization level expressed in meters per squared second (m/s^2).
      gyroQuantizationLevel - gyro quantization level expressed in radians per second (rad/s).
      Throws:
      IllegalArgumentException - if any value is invalid.

    • IMUErrors

      public IMUErrors(com.irurueta.algebra.Matrix accelerometerBiases, com.irurueta.algebra.Matrix gyroBiases, com.irurueta.algebra.Matrix accelerometerScaleFactorAndCrossCouplingErrors, com.irurueta.algebra.Matrix gyroScaleFactorAndCrossCouplingErrors, com.irurueta.algebra.Matrix gyroGDependentBiases, double accelerometerNoiseRootPSD, double gyroNoiseRootPSD, double accelerometerQuantizationLevel, double gyroQuantizationLevel)
      Constructor.
      Parameters:
      accelerometerBiases - accelerometer biases for each IMU axis expressed in meters per squared second (m/s^2). Must be 3x1.
      gyroBiases - gyro biases for each IMU axis expressed in radians per second (rad/s). Must be 3x1.
      accelerometerScaleFactorAndCrossCouplingErrors - accelerometer scale factors and cross coupling errors. Must be 3x3.
      gyroScaleFactorAndCrossCouplingErrors - gyro scale factors and cross coupling errors. Must be 3x3.
      gyroGDependentBiases - Cross biases introduced by the specific forces sensed by the accelerometer expressed in (rad-sec/m). Must be 3x3.
      accelerometerNoiseRootPSD - accelerometer noise root PSD expressed in (m * s^-1.5).
      gyroNoiseRootPSD - gyro noise root PSD expressed in (rad * s^-0.5).
      accelerometerQuantizationLevel - accelerometer quantization level expressed in meters per squared second (m/s^2).
      gyroQuantizationLevel - gyro quantization level expressed in radians per second (rad/s).
      Throws:
      IllegalArgumentException - if any value is invalid.

    • IMUErrors

      public IMUErrors(com.irurueta.units.Acceleration[] accelerometerBiases, com.irurueta.units.AngularSpeed[] gyroBiases, com.irurueta.algebra.Matrix accelerometerScaleFactorAndCrossCouplingErrors, com.irurueta.algebra.Matrix gyroScaleFactorAndCrossCouplingErrors, com.irurueta.algebra.Matrix gyroGDependentBiases, double accelerometerNoiseRootPSD, double gyroNoiseRootPSD, com.irurueta.units.Acceleration accelerometerQuantizationLevel, com.irurueta.units.AngularSpeed gyroQuantizationLevel)
      Constructor.
      Parameters:
      accelerometerBiases - accelerometer biases for each IMU axis. Must have length 3.
      gyroBiases - gyro biases for each IMU axis. Must have length 3.
      accelerometerScaleFactorAndCrossCouplingErrors - accelerometer scale factors and cross coupling errors. Must be 3x3.
      gyroScaleFactorAndCrossCouplingErrors - gyro scale factors and cross coupling errors. Must be 3x3.
      gyroGDependentBiases - Cross biases introduced by the specific forces sensed by the accelerometer expressed in (rad-sec/m). Must be 3x3.
      accelerometerNoiseRootPSD - accelerometer noise root PSD expressed in (m * s^-1.5).
      gyroNoiseRootPSD - gyro noise root PSD expressed in (rad * s^-0.5).
      accelerometerQuantizationLevel - accelerometer quantization level.
      gyroQuantizationLevel - gyro quantization level.
      Throws:
      IllegalArgumentException - if any value is invalid.

    • IMUErrors

      public IMUErrors(IMUErrors input)
      Constructor.
      Parameters:
      input - instance to copy data from.

  • Method Details

    • getAccelerometerBiases

      public double[] getAccelerometerBiases()
      Gets accelerometer biases for each IMU axis expressed in meters per squared second (m/s^2). By default, it is assumed to be all zeros.
      Returns:
      accelerometer biases for each IMU axis.

    • getAccelerometerBiases

      public void getAccelerometerBiases(double[] result)
      Gets accelerometer biases for each IMU axis expressed in meters per squared second (m/s^2). By default, it is assumed to be all zeros.
      Parameters:
      result - instance where data will be stored.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • setAccelerometerBiases

      public void setAccelerometerBiases(double[] accelerometerBiases)
      Sets accelerometer biases for each IMU axis expressed in meters per squared second (m/s^2).
      Parameters:
      accelerometerBiases - accelerometer biases for each IMU axis.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • getAccelerometerBiasesAsMatrix

      public com.irurueta.algebra.Matrix getAccelerometerBiasesAsMatrix()
      Gets accelerometer biases for each IMU axis expressed in meters per squared second (m/s^2) as a column matrix. By default, it is assumed to be all zeros.
      Returns:
      3x1 column matrix containing accelerometer biases for each IMU axis.

    • getAccelerometerBiasesAsMatrix

      public void getAccelerometerBiasesAsMatrix(com.irurueta.algebra.Matrix result)
      Gets accelerometer biases for each IMU axis expressed in meters per squared second (m/s^2) as a column matrix. By default, it is assumed to be all zeros.
      Parameters:
      result - instance where data will be stored.
      Throws:
      IllegalArgumentException - if provided result matrix is not 3x1.

    • setAccelerometerBiases

      public void setAccelerometerBiases(com.irurueta.algebra.Matrix accelerometerBiases)
      Sets accelerometer biases for each IMU axis expressed in meters per squared second (m/s^2) from a 3x1 column matrix.
      Parameters:
      accelerometerBiases - 3x1 column matrix containing values to be set.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • getAccelerometerBiasesAsAcceleration

      public com.irurueta.units.Acceleration[] getAccelerometerBiasesAsAcceleration()
      Gets accelerometer biases for each IMU axis. By default, it is assumed to be all zeros.
      Returns:
      accelerometer biases for each IMU axis.

    • getAccelerometerBiasesAsAcceleration

      public void getAccelerometerBiasesAsAcceleration(com.irurueta.units.Acceleration[] result)
      Gets accelerometer biases for each IMU axis. By default, it is assumed to be all zeros.
      Parameters:
      result - instance where data will be copied to.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • setAccelerometerBiases

      public void setAccelerometerBiases(com.irurueta.units.Acceleration[] accelerometerBiases)
      Sets accelerometer biases for each IMU axis.
      Parameters:
      accelerometerBiases - accelerometer biases to be set.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • getGyroBiases

      public double[] getGyroBiases()
      Gets gyro biases for each IMU axis expressed in radians per second (rad/s). By default, it is assumed to be all zeros.
      Returns:
      gyro biases for each IMU axis.

    • getGyroBiases

      public void getGyroBiases(double[] result)
      Gets gyro biases for each IMU axis expressed in radians per second (rad/s). By default, it is assumed to be all zeros.
      Parameters:
      result - instance where data will be stored.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • setGyroBiases

      public void setGyroBiases(double[] gyroBiases)
      Sets gyro biases for each IMU axis expressed in radians per second (rad/s).
      Parameters:
      gyroBiases - gyro biases for each IMU axis.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • getGyroBiasesAsMatrix

      public com.irurueta.algebra.Matrix getGyroBiasesAsMatrix()
      Gets gyro biases for each IMU axis expressed in radians per second (rad/s) as a column matrix. By default, it is assumed to be all zeros.
      Returns:
      3x1 column matrix containing gyro biases for each IMU axis.

    • getGyroBiasesAsMatrix

      public void getGyroBiasesAsMatrix(com.irurueta.algebra.Matrix result)
      Gets gyro biases for each IMU axis expressed in radians per second (rad/s) as a column matrix. By default, it is assumed to be all zeros.
      Parameters:
      result - instance where data will be stored.
      Throws:
      IllegalArgumentException - if provided result matrix is not 3x1.

    • setGyroBiases

      public void setGyroBiases(com.irurueta.algebra.Matrix gyroBiases)
      Sets gyro biases for each IMU axis expressed in radians per second (rad/s) from a 3x1 column matrix.
      Parameters:
      gyroBiases - 3x1 column matrix containing values to be set.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • getGyroBiasesAsAngularSpeed

      public com.irurueta.units.AngularSpeed[] getGyroBiasesAsAngularSpeed()
      Gets gyro biases for each IMU axis. By default, it is assumed to be all zeros.
      Returns:
      gyro biases for each IMU axis.

    • getGyroBiasesAsAngularSpeed

      public void getGyroBiasesAsAngularSpeed(com.irurueta.units.AngularSpeed[] result)
      Gets gyro biases for each IMU axis. By default, it is assumed to be all zeros.
      Parameters:
      result - instance where data will be copied to.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • setGyroBiases

      public void setGyroBiases(com.irurueta.units.AngularSpeed[] gyroBiases)
      Sets gyro biases for each IMU axis.
      Parameters:
      gyroBiases - gyro biases to be set.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • getAccelerometerScaleFactorAndCrossCouplingErrors

      public com.irurueta.algebra.Matrix getAccelerometerScaleFactorAndCrossCouplingErrors()
      Gets accelerometer scale factors and cross coupling errors. This is the product of matrix Ta containing cross coupling errors and Ka containing scaling factors. So that: 
           Ma = [sx    mxy  mxz] = Ta*Ka
          [myx   sy   myz]
          [mzx   mzy  sz ]
      Where: 
           Ka = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
      and 
           Ta = [1          -alphaXy    alphaXz ]
          [alphaYx    1           -alphaYz]
          [-alphaZx   alphaZy     1       ]
      Hence: 
           Ma = [sx    mxy  mxz] = Ta*Ka =  [sx             -sy * alphaXy   sz * alphaXz ]
          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
      This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy are considered to be zero if the accelerometer z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Ma matrix becomes upper diagonal: 
           Ma = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
      Values of this matrix are unit-less. By default, it is the 3x3 identity matrix.
      Returns:
      accelerometer scale factors and cross coupling errors.

    • getAccelerometerScaleFactorAndCrossCouplingErrors

      public void getAccelerometerScaleFactorAndCrossCouplingErrors(com.irurueta.algebra.Matrix result)
      Gets accelerometer scale factors and cross coupling errors. This is the product of matrix Ta containing cross coupling errors and Ka containing scaling factors. So that: 
           Ma = [sx    mxy  mxz] = Ta*Ka
          [myx   sy   myz]
          [mzx   mzy  sz ]
      Where: 
           Ka = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
      and 
           Ta = [1          -alphaXy    alphaXz ]
          [alphaYx    1           -alphaYz]
          [-alphaZx   alphaZy     1       ]
      Hence: 
           Ma = [sx    mxy  mxz] = Ta*Ka =  [sx             -sy * alphaXy   sz * alphaXz ]
          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
      This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy are considered to be zero if the accelerometer z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Ma matrix becomes upper diagonal: 
           Ma = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
      Values of this matrix are unit-less. By default, it is the 3x3 identity matrix.
      Parameters:
      result - instance where data of scale factor and cross coupling matrix will be copied to. If needed, result instance will be resized.

    • setAccelerometerScaleFactorAndCrossCouplingErrors

      public void setAccelerometerScaleFactorAndCrossCouplingErrors(com.irurueta.algebra.Matrix accelerometerScaleFactorAndCrossCouplingErrors)
      Sets accelerometer scale factors and cross coupling errors. This is the product of matrix Ta containing cross coupling errors and Ka containing scaling factors. So that: 
           Ma = [sx    mxy  mxz] = Ta*Ka
          [myx   sy   myz]
          [mzx   mzy  sz ]
      Where: 
           Ka = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
      and 
           Ta = [1          -alphaXy    alphaXz ]
          [alphaYx    1           -alphaYz]
          [-alphaZx   alphaZy     1       ]
      Hence: 
           Ma = [sx    mxy  mxz] = Ta*Ka =  [sx             -sy * alphaXy   sz * alphaXz ]
          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
      This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy are considered to be zero if the accelerometer z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Ma matrix becomes upper diagonal: 
           Ma = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
      Values of this matrix are unit-less.
      Parameters:
      accelerometerScaleFactorAndCrossCouplingErrors - scale factors and cross coupling matrix to be set.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x3.

    • getGyroScaleFactorAndCrossCouplingErrors

      public com.irurueta.algebra.Matrix getGyroScaleFactorAndCrossCouplingErrors()
      Gets gyro scale factors and cross coupling errors. This is the product of matrix Tg containing cross coupling errors and Kg containing scaling factors. So that: 
           Mg = [sx    mxy  mxz] = Tg*Kg
          [myx   sy   myz]
          [mzx   mzy  sz ]
      Where: 
           Kg = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
      and 
           Tg = [1          -gammaXy    gammaXz ]
          [gammaYx    1           -gammaYz]
          [-gammaZx   gammaZy     1       ]
      Hence: 
           Mg = [sx    mxy  mxz] = Tg*Kg =  [sx             -sy * gammaXy   sz * gammaXz ]
          [myx   sy   myz]            [sx * gammaYx   sy              -sz * gammaYz]
          [mzx   mzy  sz ]            [-sx * gammaZx  sy * gammaZy    sz           ]
      This instance allows any 3x3 matrix however, typically gammaYx, gammaZx and gammaZy are considered to be zero if the accelerometer z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Ma matrix becomes upper diagonal: 
           Ma = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
      Values of this matrix are unit-less. By default, it is the 3x3 identity matrix.
      Returns:
      gyro scale factors and cross coupling errors.

    • getGyroScaleFactorAndCrossCouplingErrors

      public void getGyroScaleFactorAndCrossCouplingErrors(com.irurueta.algebra.Matrix result)
      Gets gyro scale factors and cross coupling errors. This is the product of matrix Tg containing cross coupling errors and Kg containing scaling factors. So that: 
           Mg = [sx    mxy  mxz] = Tg*Kg
          [myx   sy   myz]
          [mzx   mzy  sz ]
      Where: 
           Kg = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
      and 
           Tg = [1          -gammaXy    gammaXz ]
          [gammaYx    1           -gammaYz]
          [-gammaZx   gammaZy     1       ]
      Hence: 
           Mg = [sx    mxy  mxz] = Tg*Kg =  [sx             -sy * gammaXy   sz * gammaXz ]
          [myx   sy   myz]            [sx * gammaYx   sy              -sz * gammaYz]
          [mzx   mzy  sz ]            [-sx * gammaZx  sy * gammaZy    sz           ]
      This instance allows any 3x3 matrix however, typically gammaYx, gammaZx and gammaZy are considered to be zero if the accelerometer z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Ma matrix becomes upper diagonal: 
           Ma = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
      Values of this matrix are unit-less. By default, it is the 3x3 identity matrix.
      Parameters:
      result - instance where data of scale factor and cross coupling matrix will be copied to. If needed, result instance will be resized.

    • setGyroScaleFactorAndCrossCouplingErrors

      public void setGyroScaleFactorAndCrossCouplingErrors(com.irurueta.algebra.Matrix gyroScaleFactorAndCrossCouplingErrors)
      Sets gyro scale factors and cross coupling errors. This is the product of matrix Tg containing cross coupling errors and Kg containing scaling factors. So that: 
           Mg = [sx    mxy  mxz] = Tg*Kg
          [myx   sy   myz]
          [mzx   mzy  sz ]
      Where: 
           Kg = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
      and 
           Tg = [1          -gammaXy    gammaXz ]
          [gammaYx    1           -gammaYz]
          [-gammaZx   gammaZy     1       ]
      Hence: 
           Mg = [sx    mxy  mxz] = Tg*Kg =  [sx             -sy * gammaXy   sz * gammaXz ]
          [myx   sy   myz]            [sx * gammaYx   sy              -sz * gammaYz]
          [mzx   mzy  sz ]            [-sx * gammaZx  sy * gammaZy    sz           ]
      This instance allows any 3x3 matrix however, typically gammaYx, gammaZx and gammaZy are considered to be zero if the accelerometer z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Ma matrix becomes upper diagonal: 
           Ma = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
      Values of this matrix are unit-less.
      Parameters:
      gyroScaleFactorAndCrossCouplingErrors - scale factors and cross coupling matrix to be set.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x3.

    • getGyroGDependentBiases

      public com.irurueta.algebra.Matrix getGyroGDependentBiases()
      Gets 3x3 matrix containing cross biases introduced by the specific forces sensed by the accelerometer. Values of this matrix are expressed in (rad-sec/m). By default, it is all zeros.
      Returns:
      cross biases introduced by the specific forces sensed by the accelerometer.

    • getGyroGDependentBiases

      public void getGyroGDependentBiases(com.irurueta.algebra.Matrix result)
      Gets 3x3 matrix containing cross biases introduced by the specific forces sensed by the accelerometer. Values of this matrix are expressed in (rad-sec/m). By default, it is all zeros.
      Parameters:
      result - instance where data will be stored. If needed, result instance will be resized.

    • setGyroGDependentBiases

      public void setGyroGDependentBiases(com.irurueta.algebra.Matrix gyroGDependentBiases)
      Sets 3x3 matrix containing cross biases introduced by the specific forces sensed by the accelerometer. Values of this matrix are expressed in (rad-sec/m).
      Parameters:
      gyroGDependentBiases - cross biases introduced by the specific forces sensed by the accelerometer to be set.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x3.

    • getAccelerometerNoiseRootPSD

      public double getAccelerometerNoiseRootPSD()
      Gets accelerometer noise root PSD expressed in (m * s^-1.5). By default it is zero.
      Returns:
      accelerometer noise root PSD.

    • setAccelerometerNoiseRootPSD

      public void setAccelerometerNoiseRootPSD(double accelerometerNoiseRootPSD)
      Sets accelerometer noise root PSD expressed in (m * s^-1.5)
      Parameters:
      accelerometerNoiseRootPSD - accelerometer noise root PSD to be set.

    • getAccelerometerNoisePSD

      public double getAccelerometerNoisePSD()
      Gets accelerometer noise PSD expressed in (m^2 * s^-3). By default, it is zero.
      Returns:
      accelerometer noise PSD.

    • setAccelerometerNoisePSD

      public void setAccelerometerNoisePSD(double accelerometerNoisePSD)
      Sets accelerometer noise PSD expressed in (m^2 * s^-3).
      Parameters:
      accelerometerNoisePSD - accelerometer noise PSD to be set.
      Throws:
      IllegalArgumentException - if provided value is negative.

    • getGyroNoiseRootPSD

      public double getGyroNoiseRootPSD()
      Gets gyro noise root PSD expressed in (rad * s^-0.5). By default, it is zero.
      Returns:
      gyro noise root PSD.

    • setGyroNoiseRootPSD

      public void setGyroNoiseRootPSD(double gyroNoiseRootPSD)
      Sets gyro noise root PSD expressed in (rad * s^-0.5).
      Parameters:
      gyroNoiseRootPSD - gyro noise root PSD to be set.

    • getGyroNoisePSD

      public double getGyroNoisePSD()
      Gets gyro noise PSD expressed in (rad^2/s). By default, it is zero.
      Returns:
      gyro noise PSD.

    • setGyroNoisePSD

      public void setGyroNoisePSD(double gyroNoisePSD)
      Sets gyro noise PSD expressed in (rad^2/s).
      Parameters:
      gyroNoisePSD - gyro noise PSD.
      Throws:
      IllegalArgumentException - if provided value is negative.

    • getAccelerometerQuantizationLevel

      public double getAccelerometerQuantizationLevel()
      Gets accelerometer quantization level expressed in meters per squared second (m/s^2). By default, it is zero when no quantization is assumed.
      Returns:
      accelerometer quantization level.

    • setAccelerometerQuantizationLevel

      public void setAccelerometerQuantizationLevel(double accelerometerQuantizationLevel)
      Sets accelerometer quantization level expressed in meters per squared second (m/s^2).
      Parameters:
      accelerometerQuantizationLevel - accelerometer quantization level to be set.

    • getAccelerometerQuantizationLevelAsAcceleration

      public com.irurueta.units.Acceleration getAccelerometerQuantizationLevelAsAcceleration()
      Gets accelerometer quantization level. By default, it is zero when no quantization is assumed.
      Returns:
      accelerometer quantization level.

    • getAccelerometerQuantizationLevelAsAcceleration

      public void getAccelerometerQuantizationLevelAsAcceleration(com.irurueta.units.Acceleration result)
      Gets accelerometer quantization level. By default, it is zero when no quantization is assumed.
      Parameters:
      result - instance where value will be stored.

    • setAccelerometerQuantizationLevel

      public void setAccelerometerQuantizationLevel(com.irurueta.units.Acceleration accelerometerQuantizationLevel)
      Sets accelerometer quantization level.
      Parameters:
      accelerometerQuantizationLevel - accelerometer quantization level to be set.

    • getGyroQuantizationLevel

      public double getGyroQuantizationLevel()
      Gets gyro quantization level expressed in radians per second (rad/s). By default, it is zero when no quantization is assumed.
      Returns:
      gyro quantization level expressed in radians per second.

    • setGyroQuantizationLevel

      public void setGyroQuantizationLevel(double gyroQuantizationLevel)
      Sets gyro quantization level expressed in radians per second (rad/s).
      Parameters:
      gyroQuantizationLevel - gyro quantization level to be set.

    • getGyroQuantizationLevelAsAngularSpeed

      public com.irurueta.units.AngularSpeed getGyroQuantizationLevelAsAngularSpeed()
      Gets gyro quantization level. By default, it is zero when no quantization is assumed.
      Returns:
      gyro quantization level.

    • getGyroQuantizationLevelAsAngularSpeed

      public void getGyroQuantizationLevelAsAngularSpeed(com.irurueta.units.AngularSpeed result)
      Gets gyro quantization level. By default, it is zero when no quantization is assumed.
      Parameters:
      result - instance where value will be stored.

    • setGyroQuantizationLevel

      public void setGyroQuantizationLevel(com.irurueta.units.AngularSpeed gyroQuantizationLevel)
      Sets gyro quantization level.
      Parameters:
      gyroQuantizationLevel - gyro quantization level.

    • copyTo

      public void copyTo(IMUErrors output)
      Copies this instance data into provided instance.
      Parameters:
      output - destination instance where data will be copied to.

    • copyFrom

      public void copyFrom(IMUErrors input)
      Copies data of provided instance into this instance.
      Parameters:
      input - instance to copy data from.

    • hashCode

      public int hashCode()
      Computes and returns hash code for this instance. Hash codes are almost unique values that are useful for fast classification and storage of objects in collections.
      Overrides:
      hashCode in class Object
      Returns:
      Hash code.

    • equals

      public boolean equals(Object o)
      Checks if provided object is an IMUErrors instance having exactly the same contents as this instance.
      Overrides:
      equals in class Object
      Parameters:
      o - Object to be compared.
      Returns:
      true if both objects are considered to be equal, false otherwise.

    • clone

      protected Object clone() throws CloneNotSupportedException
      Makes a copy of this instance.
      Overrides:
      clone in class Object
      Returns:
      a copy of this instance.
      Throws:
      CloneNotSupportedException - if clone fails for some reason.

    • convertAcceleration

      private double convertAcceleration(com.irurueta.units.Acceleration acceleration)
      Converts acceleration instance to meters per squared second (m/s^2).
      Parameters:
      acceleration - instance to be converted.
      Returns:
      converted value.

    • convertAngularSpeed

      private double convertAngularSpeed(com.irurueta.units.AngularSpeed angularSpeed)
      Converts angular speed instance to radians per second (rad/s).
      Parameters:
      angularSpeed - instance ot be converted.
      Returns:
      converted value.